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Totnes Castle was first built as a motte and bailey castle by Judhael of Brittany shortly after the Norman Conquest in 1066 AD. It is situated on high ground in close proximity to the River Dart and overlooks Totnes town, which dates back to Saxon times.

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from wikiHow

Make a Motte and Bailey Castle

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Okehampton Castle, Devon - England, A medieval motte and bailey castle built in 1068 by Baldwin FirzGilbert photography by Steve Crampton

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An aerial view of Old Sarum, Wiltshire, UK showing the motte and bailey castle and the remains of the Bishop's Palace. The Bishop's seat was transferred to nearby Salisbury in 1219 which gradually led to the decline of the Old Sarum site. When the settlement grew too big they needed to relocate so they decided to fire and arrow and where it landed they would build the new settlement, the arrow hit a deer and where the deer died they built Salisbury Cathedral

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Totnes Castle is one of the best preserved examples of a Norman motte and bailey castle in England. It is situated in the town of Totnes on the River Dart in Devon. The surviving stone keep and curtain wall date from around the 14th century.

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